Method and system for positioning an autonomous mobile unit for docking

A method for docking an autonomous mobile unit at a docking device, the method comprising the steps of:

• arranging one of a transmitter and a detector arrangement at the autonomous mobile unit and the other of the transmitter and the detector arrangement at the docking device;
• emitting a slot-shaped light beam from the transmitter, the light beam being substantially perpendicular to a drive surface of the autonomous mobile unit;
• detecting a position of the light beam with the detector arrangement, the detector arrangement including at least one position detector oriented substantially parallel to the drive surface;
• receiving data from the detector arrangement at an evaluator;
• evaluating a change of relative position of the light beam with respect to the detector arrangement via the evaluator;
• controlling movement of the autonomous mobile unit wherein the light beam assumes a predetermined position on the position detector;
• providing three-wheel kinematics for the autonomous mobile unit;
• determining whether it is possible for the autonomous mobile unit to attain a desired docking position based on the kinematics and depending on a docking interval;
• and
• distancing the autonomous mobile unit from the docking device, if it is determined that it is not possible for the autonomous mobile unit to attain the desired docking position, sufficiently far enough to enable the autonomous mobile unit to ultimately attain the desired docking position.

A method for docking an autonomous mobile unit at a docking device, the method comprising the steps of:

• arranging one of a transmitter and a detector arrangement at the autonomous mobile unit and the other of the transmitter and the detector arrangement at the docking device;
• emitting a slot-shaped light beam from the transmitter, the light beam being substantially perpendicular to a drive surface of the autonomous mobile unit;
• detecting a position of the light beam with the detector arrangement, the detector arrangement including at least one position detector oriented substantially parallel to the drive surface;
• receiving data from the detector arrangement at an evaluator;
• evaluating a change of relative position of the light beam with respect to the detector arrangement via the evaluator;
• controlling movement of the autonomous mobile unit wherein the light beam assumes a predetermined position on the position detector;
• determining, in cyclical fashion, integral brightness differences in an environment of the autonomous mobile unit;
• and
• evaluating the brightness differences as interval changes to obstacles in the environment.

A method for docking an autonomous mobile unit at a docking device, the method comprising the steps of:

• providing at least two distance measuring sensors at a side of the autonomous mobile unit;
• determining a distance to a wall placed to a side of the docking device using the at least two distance measuring sensors;
• determining a distance to the docking device using at least one further distance measuring sensor provided at the autonomous mobile unit;
• determining a configuration of the autonomous mobile unit from the distance to the docking device and from the measured distance to the wall;
• and
• forming control signals for a docking procedure based on the configuration of the autonomous mobile unit.